Three mobilities – body fixed 3-2 (z-y) rotation followed by translation along body z or body x. More...

Inheritance diagram for SimTK::MobilizedBody::SphericalCoords:

Public Member Functions
	SphericalCoords ()
	Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::SphericalCoords. More...

	SphericalCoords (MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
	Create a SphericalCoords mobilizer between an existing parent (inboard) body P and a new child (outboard) body B created by copying the given bodyInfo into a privately-owned Body within the constructed MobilizedBody object. More...

	SphericalCoords (MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
	Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child body frames. More...

	SphericalCoords (MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Real azimuthOffset, bool azimuthNegated, Real zenithOffset, bool zenithNegated, CoordinateAxis radialAxis, bool radialNegated, Direction=Forward)
	Use this constructor to specify the general case described above. More...

SphericalCoords &	addBodyDecoration (const Transform &X_BD, const DecorativeGeometry &g)

SphericalCoords &	addOutboardDecoration (const Transform &X_MD, const DecorativeGeometry &g)

SphericalCoords &	addInboardDecoration (const Transform &X_FD, const DecorativeGeometry &g)

SphericalCoords &	setDefaultInboardFrame (const Transform &X_PF)

SphericalCoords &	setDefaultOutboardFrame (const Transform &X_BM)

SphericalCoords &	setDefaultAngles (const Vec2 &a)

SphericalCoords &	setDefaultRadius (Real r)

SphericalCoords &	setRadialAxis (CoordinateAxis)

SphericalCoords &	setNegateAzimuth (bool)

SphericalCoords &	setNegateZenith (bool)

SphericalCoords &	setNegateRadial (bool)

const Vec2 &	getDefaultAngles () const

Real	getDefaultTranslation () const

CoordinateAxis	getRadialAxis () const

bool	isAzimuthNegated () const

bool	isZenithNegated () const

bool	isRadialNegated () const

void	setAngles (State &s, const Vec2 &a)

void	setRadius (State &s, Real r)

const Vec2 &	getAngles (const State &s) const

Real	getRadius (const State &s) const

const Vec3 &	getDefaultQ () const

SphericalCoords &	setDefaultQ (const Vec3 &q)

const Vec3 &	getQ (const State &) const

const Vec3 &	getQDot (const State &) const

const Vec3 &	getQDotDot (const State &) const

const Vec3 &	getU (const State &) const

const Vec3 &	getUDot (const State &) const

void	setQ (State &, const Vec3 &) const

void	setU (State &, const Vec3 &) const

const Vec3 &	getMyPartQ (const State &, const Vector &qlike) const

const Vec3 &	getMyPartU (const State &, const Vector &ulike) const

Vec3 &	updMyPartQ (const State &, Vector &qlike) const

Vec3 &	updMyPartU (const State &, Vector &ulike) const

Public Member Functions inherited from SimTK::MobilizedBody
	MobilizedBody ()
	The default constructor provides an empty MobilizedBody handle that can be assigned to reference any type of MobilizedBody. More...

	MobilizedBody (MobilizedBodyImpl *r)
	Internal use only. More...

void	lock (State &state, Motion::Level level=Motion::Position) const
	Lock this mobilizer's position or velocity at its current value, or lock the acceleration to zero, depending on the `level` parameter. More...

void	lockAt (State &state, Real value, Motion::Level level=Motion::Position) const
	Lock this mobilizer's q, u, or udot to the given scalar `value`, depending on `level`. More...

void	lockAt (State &state, const Vector &value, Motion::Level level=Motion::Position) const
	Lock this mobilizer's q, u, or udot to the given Vector `value`, depending on `level`. More...

template<int N>
void	lockAt (State &state, const Vec< N > &value, Motion::Level level=Motion::Position) const
	Lock this mobilizer's q, u, or udot to the given Vec<N> `value`, depending on the `level`. More...

void	unlock (State &state) const
	Unlock this mobilizer, returning it to its normal behavior which may be free motion or may be controlled by a Motion object. More...

bool	isLocked (const State &state) const
	Check whether this mobilizer is currently locked in the given `state`. More...

Motion::Level	getLockLevel (const State &state) const
	Returns the lock level if the mobilizer is locked in the given `state`, otherwise Motion::NoLevel. More...

Vector	getLockValueAsVector (const State &state) const
	Return the q, u, or udot value at which this mobilizer is locked, depending on the lock level, as a Vector of the appropriate length. More...

MobilizedBody &	lockByDefault (Motion::Level level=Motion::Position)
	Change whether this mobilizer is initially locked. More...

bool	isLockedByDefault () const
	Check whether this mobilizer is to be locked in the default state. More...

Motion::Level	getLockByDefaultLevel () const
	Returns the level at which the mobilizer is locked by default, if it is locked by default, otherwise Motion::NoLevel. More...

const Transform &	getBodyTransform (const State &state) const
	Extract from the state cache the already-calculated spatial configuration X_GB of body B's body frame, measured with respect to the Ground frame and expressed in the Ground frame. More...

const Rotation &	getBodyRotation (const State &state) const
	Extract from the state cache the already-calculated spatial orientation R_GB of body B's body frame x, y, and z axes expressed in the Ground frame, as the Rotation matrix R_GB. More...

const Vec3 &	getBodyOriginLocation (const State &state) const
	Extract from the state cache the already-calculated spatial location of body B's body frame origin Bo, measured from the Ground origin Go and expressed in the Ground frame, as the position vector p_GB (== p_GoBo). More...

const Transform &	getMobilizerTransform (const State &state) const
	At stage Position or higher, return the cross-mobilizer transform X_FM, the body's inboard mobilizer frame M measured and expressed in the parent body's corresponding outboard frame F. More...

const SpatialVec &	getBodyVelocity (const State &state) const
	Extract from the state cache the already-calculated spatial velocity V_GB of this body's reference frame B, measured with respect to the Ground frame and expressed in the Ground frame. More...

const Vec3 &	getBodyAngularVelocity (const State &state) const
	Extract from the state cache the already-calculated inertial angular velocity vector w_GB of this body B, measured with respect to the Ground frame and expressed in the Ground frame. More...

const Vec3 &	getBodyOriginVelocity (const State &state) const
	Extract from the state cache the already-calculated inertial linear velocity vector v_GB (more explicitly, v_GBo) of this body B's origin point Bo, measured with respect to the Ground frame and expressed in the Ground frame. More...

const SpatialVec &	getMobilizerVelocity (const State &state) const
	At stage Velocity or higher, return the cross-mobilizer velocity V_FM, the relative velocity of this body's "moving" mobilizer frame M in the parent body's corresponding "fixed" frame F, measured and expressed in F. More...

const SpatialVec &	getBodyAcceleration (const State &state) const
	Extract from the state cache the already-calculated spatial acceleration A_GB of this body's reference frame B, measured with respect to the Ground frame and expressed in the Ground frame. More...

const Vec3 &	getBodyAngularAcceleration (const State &state) const
	Extract from the state cache the already-calculated inertial angular acceleration vector b_GB of this body B, measured with respect to the Ground frame and expressed in the Ground frame. More...

const Vec3 &	getBodyOriginAcceleration (const State &state) const
	Extract from the state cache the already-calculated inertial linear acceleration vector a_GB (more explicitly, a_GBo) of this body B's origin point Bo, measured with respect to the Ground frame and expressed in the Ground frame. More...

const SpatialVec &	getMobilizerAcceleration (const State &state) const
	TODO: Not implemented yet – any volunteers? At stage Acceleration, return the cross-mobilizer acceleration A_FM, the relative acceleration of body B's "moving" mobilizer frame M in the parent body's corresponding "fixed" frame F, measured and expressed in F. More...

const MassProperties &	getBodyMassProperties (const State &state) const
	Return a reference to this body's mass properties in the State cache. More...

const SpatialInertia &	getBodySpatialInertiaInGround (const State &state) const
	Return a reference to the already-calculated SpatialInertia of this body, taken about the body's origin (not its mass center), and expressed in the Ground frame. More...

Real	getBodyMass (const State &state) const
	Return the mass of this body. More...

const Vec3 &	getBodyMassCenterStation (const State &state) const
	Return this body's center of mass station (i.e., the vector fixed in the body, going from body origin to body mass center, expressed in the body frame.) The State must have been realized to Stage::Instance or higher. More...

const UnitInertia &	getBodyUnitInertiaAboutBodyOrigin (const State &state) const
	Return a reference to this body's unit inertia matrix in the State cache, taken about the body origin and expressed in the body frame. More...

const Transform &	getInboardFrame (const State &state) const
	Return a reference to this mobilizer's frame F fixed on the parent body P, as the fixed Transform from P's body frame to the frame F fixed to P. More...

const Transform &	getOutboardFrame (const State &state) const
	Return a reference to this MobilizedBody's mobilizer frame M, as the fixed Transform from this body B's frame to the frame M fixed on B. More...

void	setInboardFrame (State &state, const Transform &X_PF) const
	TODO: not implemented yet. More...

void	setOutboardFrame (State &state, const Transform &X_BM) const
	TODO: not implemented yet. More...

int	getNumQ (const State &state) const
	Return the number of generalized coordinates q currently in use by this mobilizer. More...

int	getNumU (const State &state) const
	Return the number of generalized speeds u currently in use by this mobilizer. More...

QIndex	getFirstQIndex (const State &state) const
	Return the global QIndex of the first q for this mobilizer; all the q's range from getFirstQIndex() to QIndex(getFirstQIndex()+getNumQ()-1). More...

UIndex	getFirstUIndex (const State &state) const
	Return the global UIndex of the first u for this mobilizer; all the u's range from getFirstUIndex() to UIndex(getFirstUIndex()+getNumU()-1). More...

Motion::Method	getQMotionMethod (const State &state) const
	Determine how generalized coordinate q values are being determined. More...

Motion::Method	getUMotionMethod (const State &state) const
	Determine how generalized speed u values are being determined. More...

Motion::Method	getUDotMotionMethod (const State &state) const
	Determine how generalized acceleration udot values are being determined. More...

Real	getOneQ (const State &state, int which) const
	Return one of the generalized coordinates q from this mobilizer's partition of the matter subsystem's full q vector in the State. More...

Real	getOneU (const State &state, int which) const
	Return one of the generalized speeds u from this mobilizer's partition of the matter subsystem's full u vector in the State. More...

Vector	getQAsVector (const State &state) const
	Return as a Vector of length getNumQ() all the generalized coordinates q currently in use by this mobilizer, from this mobilizer's partion in the matter subsystem's full q vector in the State. More...

Vector	getUAsVector (const State &state) const
	Return as a Vector of length getNumU() all the generalized speeds u currently in use by this mobilizer, from this mobilizer's partion in the matter subsystem's full u vector in the State. More...

Real	getOneQDot (const State &state, int which) const
	Return one of the generalized coordinate derivatives qdot from this mobilizer's partition of the matter subsystem's full qdot vector in the State cache. More...

Vector	getQDotAsVector (const State &state) const
	Return as a Vector of length getNumQ() all the generalized coordinate derivatives qdot currently in use by this mobilizer, from this mobilizer's partition in the matter subsystem's full qdot vector in the State cache. More...

Real	getOneUDot (const State &state, int which) const
	Return one of the generalized accelerations udot from this mobilizer's partition of the matter subsystem's full udot vector in the State cache. More...

Real	getOneQDotDot (const State &state, int which) const
	Return one of the generalized coordinate second derivatives qdotdot from this mobilizer's partition of the matter subsystem's full qdotdot vector in the State cache. More...

Vector	getUDotAsVector (const State &state) const
	Return as a Vector of length getNumU() all the generalized accelerations udot currently in use by this mobilizer, from this mobilizer's partion in the matter subsystem's full udot vector in the State cache. More...

Vector	getQDotDotAsVector (const State &state) const
	Return as a Vector of length getNumQ() all the generalized coordinate second derivatives qdotdot currently in use by this mobilizer, from this mobilizer's partion in the matter subsystem's full qdotdot vector in the State cache. More...

Vector	getTauAsVector (const State &state) const
	Return the generalized forces tau resulting from prescribed (known) acceleration, corresponding to each of this mobilizer's mobilities, as a Vector of length nu=getNumU(). More...

Real	getOneTau (const State &state, MobilizerUIndex which) const
	Return one of the tau forces resulting from prescribed (known) acceleration, corresponding to one of this mobilizer's mobilities as selected here using the `which` parameter, numbered from zero to getNumU()-1. More...

void	setOneQ (State &state, int which, Real v) const
	Set one of the generalized coordinates q to value `v`, in this mobilizer's partition of the matter subsystem's full q vector in the State. More...

void	setOneU (State &state, int which, Real v) const
	Set one of the generalized speeds u to value `v`, in this mobilizer's partition of the matter subsystem's full u vector in the State. More...

void	setQFromVector (State &state, const Vector &v) const
	Set all of the generalized coordinates q to value `v` (a Vector of length getNumQ()), in this mobilizer's partition of the matter subsystem's full q vector in the State. More...

void	setUFromVector (State &state, const Vector &v) const
	Set all of the generalized speeds u to value `v` (a Vector of length getNumU()), in this mobilizer's partition of the matter subsystem's full u vector in the State. More...

void	setQToFitTransform (State &state, const Transform &X_FM) const
	Adjust this mobilizer's q's to best approximate the supplied Transform which requests a particular relative orientation and translation between the F "fixed" frame and M "moving" frame connected by this mobilizer. More...

void	setQToFitRotation (State &state, const Rotation &R_FM) const
	Adjust this mobilizer's q's to best approximate the supplied Rotation matrix which requests a particular relative orientation between the "fixed" frame F and "moving" frame M connected by this mobilizer. More...

void	setQToFitTranslation (State &state, const Vec3 &p_FM) const
	Adjust this mobilizer's q's to best approximate the supplied position vector which requests a particular offset between the origins of the F "fixed" frame and M "moving" frame connected by this mobilizer, with any q's (rotational or translational) being modified if doing so helps satisfy the request. More...

void	setUToFitVelocity (State &state, const SpatialVec &V_FM) const
	Adjust this mobilizer's u's (generalized speeds) to best approximate the supplied spatial velocity `V_FM` which requests the relative angular and linear velocity between the "fixed" and "moving" frames connected by this mobilizer. More...

void	setUToFitAngularVelocity (State &state, const Vec3 &w_FM) const
	Adjust this mobilizer's u's (generalized speeds) to best approximate the supplied angular velocity `w_FM` which requests a particular relative angular between the "fixed" and "moving" frames connected by this mobilizer. More...

void	setUToFitLinearVelocity (State &state, const Vec3 &v_FM) const
	Adjust any of this mobilizer's u's (generalized speeds) to best approximate the supplied linear velocity `v_FM` which requests a particular velocity for the "moving" frame M origin in the "fixed" frame F on the parent where these are the frames connected by this mobilizer. More...

SpatialVec	getHCol (const State &state, MobilizerUIndex ux) const
	Expert use only: obtain a column of the hinge matrix H corresponding to one of this mobilizer's mobilities (actually a column of H_PB_G; what Jain calls H* and Schwieters calls H^T). More...

SpatialVec	getH_FMCol (const State &state, MobilizerUIndex ux) const
	Expert use only: obtain a column of the mobilizer-local hinge matrix H_FM which maps generalized speeds u to cross-mobilizer spatial velocity V_FM via V_FM=H_FM*u. More...

Transform	findBodyTransformInAnotherBody (const State &state, const MobilizedBody &inBodyA) const
	Return X_AB, the spatial transform giving this body B's frame in body A's frame. More...

Rotation	findBodyRotationInAnotherBody (const State &state, const MobilizedBody &inBodyA) const
	Return R_AB, the rotation matrix giving this body B's axes in body A's frame. More...

Vec3	findBodyOriginLocationInAnotherBody (const State &state, const MobilizedBody &toBodyA) const
	Return the station on another body A (that is, a point measured and expressed in A) that is currently coincident in space with the origin Bo of this body B. More...

SpatialVec	findBodyVelocityInAnotherBody (const State &state, const MobilizedBody &inBodyA) const
	Return the angular and linear velocity of body B's frame in body A's frame, expressed in body A, and arranged as a SpatialVec. More...

Vec3	findBodyAngularVelocityInAnotherBody (const State &state, const MobilizedBody &inBodyA) const
	Return the angular velocity w_AB of body B's frame in body A's frame, expressed in body A. More...

Vec3	findBodyOriginVelocityInAnotherBody (const State &state, const MobilizedBody &inBodyA) const
	Return the velocity of body B's origin point in body A's frame, expressed in body A. More...

SpatialVec	findBodyAccelerationInAnotherBody (const State &state, const MobilizedBody &inBodyA) const
	Return the angular and linear acceleration of body B's frame in body A's frame, expressed in body A, and arranged as a SpatialVec. More...

Vec3	findBodyAngularAccelerationInAnotherBody (const State &state, const MobilizedBody &inBodyA) const
	Return the angular acceleration of body B's frame in body A's frame, expressed in body A. More...

Vec3	findBodyOriginAccelerationInAnotherBody (const State &state, const MobilizedBody &inBodyA) const
	Return the acceleration of body B's origin point in body A's frame, expressed in body A. More...

SpatialVec	findMobilizerReactionOnBodyAtMInGround (const State &state) const
	Return the spatial reaction force (moment and force) applied by the mobilizer to body B at the location of the mobilizer frame M (fixed to body B, but not necessarily at the body frame origin), expressed in Ground. More...

SpatialVec	findMobilizerReactionOnBodyAtOriginInGround (const State &state) const
	Return the spatial reaction force (moment and force) applied by the mobilizer to body B but shifted to the B frame origin, and expressed in Ground. More...

SpatialVec	findMobilizerReactionOnParentAtFInGround (const State &state) const
	Return the spatial reaction force (moment and force) applied by the mobilizer to the parent (inboard) body P at the location of the inboard "fixed" mobilizer frame F (fixed to body P, but not necessarily at the P frame origin), expressed in Ground. More...

SpatialVec	findMobilizerReactionOnParentAtOriginInGround (const State &state) const
	Return the spatial reaction force (moment and force) applied by the mobilizer to the parent (inboard) body P at the location of the P frame origin, and expressed in Ground. More...

Vec3	findStationLocationInGround (const State &state, const Vec3 &stationOnB) const
	Return the Cartesian (ground) location that is currently coincident with a station (point) S fixed on body B. More...

Vec3	findStationLocationInAnotherBody (const State &state, const Vec3 &stationOnB, const MobilizedBody &toBodyA) const
	Given a station S on this body B, return the location on another body A which is at the same location in space. More...

Vec3	findStationVelocityInGround (const State &state, const Vec3 &stationOnB) const
	Given a station fixed on body B, return its inertial (Cartesian) velocity, that is, its velocity relative to the Ground frame, expressed in the Ground frame. More...

Vec3	findStationVelocityInAnotherBody (const State &state, const Vec3 &stationOnBodyB, const MobilizedBody &inBodyA) const
	Return the velocity of a station S fixed on body B, in body A's frame, expressed in body A. More...

Vec3	findStationAccelerationInGround (const State &state, const Vec3 &stationOnB) const
	Given a station fixed on body B, return its inertial (Cartesian) acceleration, that is, its acceleration relative to the ground frame, expressed in the ground frame. More...

Vec3	findStationAccelerationInAnotherBody (const State &state, const Vec3 &stationOnBodyB, const MobilizedBody &inBodyA) const
	Return the acceleration of a station S fixed on body B, in another body A's frame, expressed in body A. More...

void	findStationLocationAndVelocityInGround (const State &state, const Vec3 &locationOnB, Vec3 &locationOnGround, Vec3 &velocityInGround) const
	It is cheaper to calculate a station's ground location and velocity together than to do them separately. More...

void	findStationLocationVelocityAndAccelerationInGround (const State &state, const Vec3 &locationOnB, Vec3 &locationOnGround, Vec3 &velocityInGround, Vec3 &accelerationInGround) const
	It is cheaper to calculate a station's ground location, velocity, and acceleration together than to do them separately. More...

Vec3	findMassCenterLocationInGround (const State &state) const
	Return the Cartesian (ground) location of this body B's mass center. More...

Vec3	findMassCenterLocationInAnotherBody (const State &state, const MobilizedBody &toBodyA) const
	Return the point of another body A that is currently coincident in space with the mass center CB of this body B. More...

Vec3	findStationAtGroundPoint (const State &state, const Vec3 &locationInG) const
	Return the station (point) S of this body B that is coincident with the given Ground location. More...

Vec3	findStationAtAnotherBodyStation (const State &state, const MobilizedBody &fromBodyA, const Vec3 &stationOnA) const
	Return the station (point) on this body B that is coincident with the given station on another body A. More...

Vec3	findStationAtAnotherBodyOrigin (const State &state, const MobilizedBody &fromBodyA) const
	Return the station S of this body that is currently coincident in space with the origin Ao of another body A. More...

Vec3	findStationAtAnotherBodyMassCenter (const State &state, const MobilizedBody &fromBodyA) const
	Return the station S of this body that is currently coincident in space with the mass center Ac of another body A. More...

Transform	findFrameTransformInGround (const State &state, const Transform &frameOnB) const
	Return the current Ground-frame pose (position and orientation) of a frame F that is fixed to body B. More...

SpatialVec	findFrameVelocityInGround (const State &state, const Transform &frameOnB) const
	Return the current Ground-frame spatial velocity V_GF (that is, angular and linear velocity) of a frame F that is fixed to body B. More...

SpatialVec	findFrameAccelerationInGround (const State &state, const Transform &frameOnB) const
	Return the current Ground-frame spatial acceleration A_GF (that is, angular and linear acceleration) of a frame F that is fixed to body B. More...

Vec3	expressVectorInGroundFrame (const State &state, const Vec3 &vectorInB) const
	Re-express a vector expressed in this body B's frame into the same vector in G, by applying only a rotation. More...

Vec3	expressGroundVectorInBodyFrame (const State &state, const Vec3 &vectorInG) const
	Re-express a vector expressed in Ground into the same vector expressed in this body B, by applying only rotation. More...

Vec3	expressVectorInAnotherBodyFrame (const State &state, const Vec3 &vectorInB, const MobilizedBody &inBodyA) const
	Re-express a vector expressed in this body B into the same vector expressed in body A, by applying only a rotation. More...

MassProperties	expressMassPropertiesInGroundFrame (const State &state) const
	Re-express this body B's mass properties in Ground by applying only a rotation, not a shift of reference point. More...

MassProperties	expressMassPropertiesInAnotherBodyFrame (const State &state, const MobilizedBody &inBodyA) const
	Re-express this body B's mass properties in another body A's frame by applying only a rotation, not a shift of reference point. More...

SpatialMat	calcBodySpatialInertiaMatrixInGround (const State &state) const
	Return the mass properties of body B, measured from and about the B origin Bo, but expressed in Ground and then returned as a Spatial Inertia Matrix. More...

Inertia	calcBodyCentralInertia (const State &state, MobilizedBodyIndex objectBodyB) const
	Return the central inertia for body B, that is, the inertia taken about body B's mass center Bc, and expressed in B. More...

Inertia	calcBodyInertiaAboutAnotherBodyStation (const State &state, const MobilizedBody &inBodyA, const Vec3 &aboutLocationOnBodyA) const
	Return the inertia of this body B, taken about an arbitrary point PA of body A, and expressed in body A. More...

SpatialVec	calcBodyMomentumAboutBodyOriginInGround (const State &state)
	Calculate body B's momentum (angular, linear) measured and expressed in Ground, but taken about the body origin Bo. More...

SpatialVec	calcBodyMomentumAboutBodyMassCenterInGround (const State &state) const
	Calculate body B's momentum (angular, linear) measured and expressed in Ground, but taken about the body mass center Bc. More...

Real	calcStationToStationDistance (const State &state, const Vec3 &locationOnBodyB, const MobilizedBody &bodyA, const Vec3 &locationOnBodyA) const
	Calculate the distance from a station PB on body B to a station PA on body A. More...

Real	calcStationToStationDistanceTimeDerivative (const State &state, const Vec3 &locationOnBodyB, const MobilizedBody &bodyA, const Vec3 &locationOnBodyA) const
	Calculate the time rate of change of distance from a fixed point PB on body B to a fixed point PA on body A. More...

Real	calcStationToStationDistance2ndTimeDerivative (const State &state, const Vec3 &locationOnBodyB, const MobilizedBody &bodyA, const Vec3 &locationOnBodyA) const
	Calculate the second time derivative of distance from a fixed point PB on body B to a fixed point PA on body A. More...

Vec3	calcBodyMovingPointVelocityInBody (const State &state, const Vec3 &locationOnBodyB, const Vec3 &velocityOnBodyB, const MobilizedBody &inBodyA) const
	TODO: not implemented yet – any volunteers? Return the velocity of a point P moving on body B, in body A's frame, expressed in body A. More...

Vec3	calcBodyMovingPointAccelerationInBody (const State &state, const Vec3 &locationOnBodyB, const Vec3 &velocityOnBodyB, const Vec3 &accelerationOnBodyB, const MobilizedBody &inBodyA) const
	TODO: not implemented yet – any volunteers? Return the velocity of a point P moving (and possibly accelerating) on body B, in body A's frame, expressed in body A. More...

Real	calcMovingPointToPointDistanceTimeDerivative (const State &state, const Vec3 &locationOnBodyB, const Vec3 &velocityOnBodyB, const MobilizedBody &bodyA, const Vec3 &locationOnBodyA, const Vec3 &velocityOnBodyA) const
	TODO: not implemented yet – any volunteers? Calculate the time rate of change of distance from a moving point PB on body B to a moving point PA on body A. More...

Real	calcMovingPointToPointDistance2ndTimeDerivative (const State &state, const Vec3 &locationOnBodyB, const Vec3 &velocityOnBodyB, const Vec3 &accelerationOnBodyB, const MobilizedBody &bodyA, const Vec3 &locationOnBodyA, const Vec3 &velocityOnBodyA, const Vec3 &accelerationOnBodyA) const
	TODO: not implemented yet – any volunteers? Calculate the second time derivative of distance from a moving point PB on body B to a moving point PA on body A. More...

const Body &	getBody () const
	Return a const reference to the Body contained within this MobilizedBody. More...

Body &	updBody ()
	Return a writable reference to the Body contained within this MobilizedBody. More...

MobilizedBody &	setBody (const Body &)
	Replace the Body contained within this MobilizedBody with a new one. More...

int	addBodyDecoration (const Transform &X_BD, const DecorativeGeometry &geometry)
	Add decorative geometry specified relative to the new (outboard) body's reference frame B. More...

int	addBodyDecoration (const DecorativeGeometry &geometry)
	Convenience method for use when the `geometry` is supplied in the body frame. More...

int	addOutboardDecoration (const Transform &X_MD, const DecorativeGeometry &geometry)
	Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B. More...

int	getNumOutboardDecorations () const
	Return the count of decorations added with addOutboardDecoration(). More...

const DecorativeGeometry &	getOutboardDecoration (int i) const
	Return a const reference to the i'th outboard decoration. More...

DecorativeGeometry &	updOutboardDecoration (int i)
	Return a writable reference to the i'th outboard decoration. More...

int	addInboardDecoration (const Transform &X_FD, const DecorativeGeometry &geometry)
	Add decorative geometry specified relative to the inboard mobilizer frame F attached to the parent body P. More...

int	getNumInboardDecorations () const
	Return the count of decorations added with addInboardDecoration(). More...

const DecorativeGeometry &	getInboardDecoration (int i) const
	Return a const reference to the i'th inboard decoration. More...

DecorativeGeometry &	updInboardDecoration (int i)
	Return a writable reference to the i'th inboard decoration. More...

MobilizedBody &	setDefaultMassProperties (const MassProperties &m)
	If the contained Body can have its mass properties set to the supplied value `m` its mass properties are changed, otherwise the method fails. More...

const MassProperties &	getDefaultMassProperties () const
	Return the mass properties of the Body stored within this MobilizedBody. More...

void	adoptMotion (Motion &ownerHandle)
	Provide a unique Motion object for this MobilizedBody. More...

void	clearMotion ()
	If there is a Motion object associated with this MobilizedBody it is removed; otherwise, nothing happens. More...

bool	hasMotion () const
	Check whether this MobilizedBody has an associated Motion object. More...

const Motion &	getMotion () const
	If there is a Motion object associated with this MobilizedBody, this returns a const reference to it. More...

MobilizedBody &	setDefaultInboardFrame (const Transform &X_PF)
	Change this mobilizer's frame F on the parent body P. More...

MobilizedBody &	setDefaultOutboardFrame (const Transform &X_BM)
	Change this mobilizer's frame M fixed on this (the outboard) body B. More...

const Transform &	getDefaultInboardFrame () const
	Return a reference to this mobilizer's default for the frame F fixed on the parent (inboard) body P, as the fixed Transform from P's body frame to the frame F fixed to P. More...

const Transform &	getDefaultOutboardFrame () const
	Return a reference to this MobilizedBody's default for mobilizer frame M, as the fixed Transform from this body B's frame to the frame M fixed on B. More...

	operator MobilizedBodyIndex () const
	This is an implicit conversion from MobilizedBody to MobilizedBodyIndex when needed. More...

MobilizedBodyIndex	getMobilizedBodyIndex () const
	Return the MobilizedBodyIndex of this MobilizedBody within the owning SimbodyMatterSubsystem. More...

const MobilizedBody &	getParentMobilizedBody () const
	Return a reference to the MobilizedBody serving as the parent body of the current MobilizedBody. More...

const MobilizedBody &	getBaseMobilizedBody () const
	Return a reference to this MobilizedBody's oldest ancestor other than Ground, or return Ground if this MobilizedBody is Ground. More...

const SimbodyMatterSubsystem &	getMatterSubsystem () const
	Obtain a reference to the SimbodyMatterSubsystem which contains this MobilizedBody. More...

SimbodyMatterSubsystem &	updMatterSubsystem ()
	Obtain a writable reference to the SimbodyMatterSubsystem which contains this MobilizedBody. More...

bool	isInSubsystem () const
	Determine whether the current MobilizedBody object is owned by a matter subsystem. More...

bool	isInSameSubsystem (const MobilizedBody &mobod) const
	Determine whether a given MobilizedBody `mobod` is in the same matter subsystem as the current body. More...

bool	isSameMobilizedBody (const MobilizedBody &mobod) const
	Determine whether a given MobilizedBody `mobod` is the same MobilizedBody as this one. More...

bool	isGround () const
	Determine whether this body is Ground, meaning that it is actually body 0 of some matter subsytem, not just that its body type is Ground. More...

int	getLevelInMultibodyTree () const
	Return this body's level in the tree of bodies, starting with ground at 0, bodies directly connected to ground at 1, bodies directly connected to those at 2, etc. More...

MobilizedBody &	cloneForNewParent (MobilizedBody &parent) const
	Create a new MobilizedBody which is identical to this one, except that it has a different parent (and consequently might belong to a different MultibodySystem). More...

Real	getOneFromQPartition (const State &state, int which, const Vector &qlike) const
	This utility selects one of the q's (generalized coordinates) associated with this mobilizer from a supplied "q-like" Vector, meaning a Vector which is the same length as the Vector of q's for the containing matter subsystem. More...

Real &	updOneFromQPartition (const State &state, int which, Vector &qlike) const
	This utility returns a writable reference to one of the q's (generalized coordinates) associated with this mobilizer from a supplied "q-like" Vector, meaning a Vector which is the same length as the Vector of q's for the containing matter subsystem. More...

Real	getOneFromUPartition (const State &state, int which, const Vector &ulike) const
	This utility selects one of the u's (generalized speeds) associated with this mobilizer from a supplied "u-like" Vector, meaning a Vector which is the same length as the Vector of u's for the containing matter subsystem. More...

Real &	updOneFromUPartition (const State &state, int which, Vector &ulike) const
	This utility returns a writable reference to one of the u's (generalized speeds) associated with this mobilizer from a supplied "u-like" Vector, meaning a Vector which is the same length as the Vector of u's for the containing matter subsystem. More...

void	applyOneMobilityForce (const State &state, int which, Real f, Vector &mobilityForces) const
	This utility adds in the supplied generalized force `f` (a scalar) to the appropriate slot of the supplied `mobilityForces` Vector, which is a "u-like" Vector. More...

void	convertQForceToUForce (const State &state, const Array_< Real, MobilizerQIndex > &fq, Array_< Real, MobilizerUIndex > &fu) const
	Given a generalized force in the q-space of this mobilizer, convert it to the equivalent generalized mobility force (u-space force). More...

void	applyBodyForce (const State &state, const SpatialVec &spatialForceInG, Vector_< SpatialVec > &bodyForcesInG) const
	This utility adds in the supplied spatial force `spatialForceInG` (consisting of a torque vector, and a force vector to be applied at the current body's origin) to the appropriate slot of the supplied `bodyForcesInG` Vector. More...

void	applyBodyTorque (const State &state, const Vec3 &torqueInG, Vector_< SpatialVec > &bodyForcesInG) const
	This utility adds in the supplied pure torque `torqueInG` to the appropriate slot of the supplied `bodyForcesInG` Vector. More...

void	applyForceToBodyPoint (const State &state, const Vec3 &pointInB, const Vec3 &forceInG, Vector_< SpatialVec > &bodyForcesInG) const
	This utility adds in the supplied force `forceInG` applied at a point `pointInB` to the appropriate slot of the supplied `bodyForcesInG` Vector. More...

Public Member Functions inherited from SimTK::PIMPLHandle< MobilizedBody, MobilizedBodyImpl, true >
bool	isEmptyHandle () const
	Returns true if this handle is empty, that is, does not refer to any implementation object. More...

bool	isOwnerHandle () const
	Returns true if this handle is the owner of the implementation object to which it refers. More...

bool	isSameHandle (const MobilizedBody &other) const
	Determine whether the supplied handle is the same object as "this" PIMPLHandle. More...

void	disown (MobilizedBody &newOwner)
	Give up ownership of the implementation to an empty handle. More...

PIMPLHandle &	referenceAssign (const MobilizedBody &source)
	"Copy" assignment but with shallow (pointer) semantics. More...

PIMPLHandle &	copyAssign (const MobilizedBody &source)
	This is real copy assignment, with ordinary C++ object ("value") semantics. More...

void	clearHandle ()
	Make this an empty handle, deleting the implementation object if this handle is the owner of it. More...

const MobilizedBodyImpl &	getImpl () const
	Get a const reference to the implementation associated with this Handle. More...

MobilizedBodyImpl &	updImpl ()
	Get a writable reference to the implementation associated with this Handle. More...

int	getImplHandleCount () const
	Return the number of handles the implementation believes are referencing it. More...

Additional Inherited Members
Public Types inherited from SimTK::MobilizedBody
enum	Direction { Forward = 0, Reverse = 1 }
	Constructors can take an argument of this type to indicate that the mobilizer is being defined in the reverse direction, meaning from the outboard (child) body to the inboard (parent) body. More...

typedef Pin	Torsion
	Synonym for Pin mobilizer. More...

typedef Pin	Revolute
	Synonym for Pin mobilizer. More...

typedef Slider	Prismatic
	Synonym for Slider mobilizer. More...

typedef Translation	Cartesian
	Synonym for Translation mobilizer. More...

typedef Translation	CartesianCoords
	Synonym for Translation mobilizer. More...

typedef BendStretch	PolarCoords
	Synonym for BendStretch mobilizer. More...

typedef Ball	Orientation
	Synonym for Ball mobilizer. More...

typedef Ball	Spherical
	Synonym for Ball mobilizer. More...

Public Types inherited from SimTK::PIMPLHandle< MobilizedBody, MobilizedBodyImpl, true >
typedef PIMPLHandle < MobilizedBody, MobilizedBodyImpl, PTR >	HandleBase

typedef HandleBase	ParentHandle

Protected Member Functions inherited from SimTK::PIMPLHandle< MobilizedBody, MobilizedBodyImpl, true >
	PIMPLHandle ()
	The default constructor makes this an empty handle. More...

	PIMPLHandle (MobilizedBodyImpl *p)
	This provides consruction of a handle referencing an existing implementation object. More...

	PIMPLHandle (const PIMPLHandle &source)
	The copy constructor makes either a deep (value) or shallow (reference) copy of the supplied source PIMPL object, based on whether this is a "pointer semantics" (PTR=true) or "object (value) semantics" (PTR=false, default) class. More...

	~PIMPLHandle ()
	Note that the destructor is non-virtual. More...

PIMPLHandle &	operator= (const PIMPLHandle &source)
	Copy assignment makes the current handle either a deep (value) or shallow (reference) copy of the supplied source PIMPL object, based on whether this is a "pointer sematics" (PTR=true) or "object (value) semantics" (PTR=false, default) class. More...

void	setImpl (MobilizedBodyImpl *p)
	Set the implementation for this empty handle. More...

bool	hasSameImplementation (const MobilizedBody &other) const
	Determine whether the supplied handle is a reference to the same implementation object as is referenced by "this" PIMPLHandle. More...

Related Functions inherited from SimTK::MobilizedBody
typedef MobilizedBody	Mobod
	Mobod is the approved abbreviation for MobilizedBody. Feel free to use it if you get tired of typing or seeing the full name. More...

Detailed Description

Three mobilities – body fixed 3-2 (z-y) rotation followed by translation along body z or body x.

Interpreted as spherical coordinates the first rotation is the azimuth angle, the second is the zenith, and the translation is the radius. We permit a simple mapping from generalized coordinates to (azimuth, zenith, radius):

    azimuth = s0*q0 + az0   (about Fz==Mz)
    zenith  = s1*q1 + ze0   (about My)
    radius  = s2*q2         (along Mz or Mx; Mz is default)

where s0,s1,s2 are signs (1 or -1) and az0 and ze0 are offset angles. The F and M frames are coincident when azimuth==zenith==radius==0. But note that with non-zero offsets the F and M frames will not be aligned in the reference configuration where q0==q1==q2==0. The F and M origins will always be coincident when q2==0, however.

With this you can define a "geographical" coordinate system where Mx is the Greenwich line, a is latitude and z longitude (with north positive):

     v  = Mx
     s0 =  1, az0 = 0
     s1 = -1, ze0 = 0
     s2 =  1

If you want the translation direction to be in Mz (the default) but would like q1=0 to mean the equatorial position rather than the (possibly singular) north pole which should be -90, define

     v  = Mz
     s0 = 1, az0 = 0
     s1 = 1, ze0 = Pi/2
     s2 = 1

One common convention for atomic (torsion,bend,stretch) uses the default spherical coordinate system but the final stretch is along the -z direction. For that, take all defaults but set s2=-1.

This mobilizer can be used to give unrestricted 3-d motion to inertialess particles (as with a Cartesian mobilizer but parameterized torsion,bend,stretch instead of x,y,z) but in this case you must watch for two possible singularities: (1) radius==0, and (2) zenith==n*Pi (or equivalently q1==n*Pi-s1*ze0). If your operating range steers clear of those singularities, you're fine.

Constructor & Destructor Documentation

SimTK::MobilizedBody::SphericalCoords::SphericalCoords ( )

inline

Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::SphericalCoords.

SimTK::MobilizedBody::SphericalCoords::SphericalCoords	(	MobilizedBody &	parent,
		const Transform &	X_PF,
		const Body &	bodyInfo,
		const Transform &	X_BM,
		Direction	= `Forward`
	)

Create a SphericalCoords mobilizer between an existing parent (inboard) body P and a new child (outboard) body B created by copying the given bodyInfo into a privately-owned Body within the constructed MobilizedBody object.

Specify the mobilizer frames F fixed to parent P and M fixed to child B. This constructor gives you a pure spherical coordinate system in which q0=azimuth about Fz(==Mz), q1=zenith about My, and q2=radius along Mz. See the longer signature for more control.

See also: MobilizedBody for a diagram and explanation of terminology.

SimTK::MobilizedBody::SphericalCoords::SphericalCoords	(	MobilizedBody &	parent,
		const Body &	bodyInfo,
		Direction	= `Forward`
	)

Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child body frames.

SimTK::MobilizedBody::SphericalCoords::SphericalCoords	(	MobilizedBody &	parent,
		const Transform &	X_PF,
		const Body &	bodyInfo,
		const Transform &	X_BM,
		Real	azimuthOffset,
		bool	azimuthNegated,
		Real	zenithOffset,
		bool	zenithNegated,
		CoordinateAxis	radialAxis,
		bool	radialNegated,
		Direction	= `Forward`
	)

Use this constructor to specify the general case described above.

Member Function Documentation

SphericalCoords& SimTK::MobilizedBody::SphericalCoords::addBodyDecoration	(	const Transform &	X_BD,
		const DecorativeGeometry &	g
	)

inline

SphericalCoords& SimTK::MobilizedBody::SphericalCoords::addOutboardDecoration	(	const Transform &	X_MD,
		const DecorativeGeometry &	g
	)

inline

SphericalCoords& SimTK::MobilizedBody::SphericalCoords::addInboardDecoration	(	const Transform &	X_FD,
		const DecorativeGeometry &	g
	)

inline

SphericalCoords& SimTK::MobilizedBody::SphericalCoords::setDefaultInboardFrame ( const Transform & X_PF )

inline

SphericalCoords& SimTK::MobilizedBody::SphericalCoords::setDefaultOutboardFrame ( const Transform & X_BM )

inline

SphericalCoords& SimTK::MobilizedBody::SphericalCoords::setDefaultAngles ( const Vec2 & a )

inline

SphericalCoords& SimTK::MobilizedBody::SphericalCoords::setDefaultRadius ( Real r )

inline

SphericalCoords& SimTK::MobilizedBody::SphericalCoords::setRadialAxis ( CoordinateAxis )

SphericalCoords& SimTK::MobilizedBody::SphericalCoords::setNegateAzimuth ( bool )

SphericalCoords& SimTK::MobilizedBody::SphericalCoords::setNegateZenith ( bool )

SphericalCoords& SimTK::MobilizedBody::SphericalCoords::setNegateRadial ( bool )

const Vec2& SimTK::MobilizedBody::SphericalCoords::getDefaultAngles ( ) const

inline

Real SimTK::MobilizedBody::SphericalCoords::getDefaultTranslation ( ) const

inline

CoordinateAxis SimTK::MobilizedBody::SphericalCoords::getRadialAxis ( ) const

bool SimTK::MobilizedBody::SphericalCoords::isAzimuthNegated ( ) const

bool SimTK::MobilizedBody::SphericalCoords::isZenithNegated ( ) const

bool SimTK::MobilizedBody::SphericalCoords::isRadialNegated ( ) const

void SimTK::MobilizedBody::SphericalCoords::setAngles	(	State &	s,
		const Vec2 &	a
	)

inline

void SimTK::MobilizedBody::SphericalCoords::setRadius	(	State &	s,
		Real	r
	)

inline

const Vec2& SimTK::MobilizedBody::SphericalCoords::getAngles ( const State & s ) const

inline

Real SimTK::MobilizedBody::SphericalCoords::getRadius ( const State & s ) const

inline

const Vec3& SimTK::MobilizedBody::SphericalCoords::getDefaultQ ( ) const

SphericalCoords& SimTK::MobilizedBody::SphericalCoords::setDefaultQ ( const Vec3 & q )

const Vec3& SimTK::MobilizedBody::SphericalCoords::getQ ( const State & ) const

const Vec3& SimTK::MobilizedBody::SphericalCoords::getQDot ( const State & ) const

const Vec3& SimTK::MobilizedBody::SphericalCoords::getQDotDot ( const State & ) const

const Vec3& SimTK::MobilizedBody::SphericalCoords::getU ( const State & ) const

const Vec3& SimTK::MobilizedBody::SphericalCoords::getUDot ( const State & ) const

void SimTK::MobilizedBody::SphericalCoords::setQ	(	State &	,
		const Vec3 &
	)		const

void SimTK::MobilizedBody::SphericalCoords::setU	(	State &	,
		const Vec3 &
	)		const

const Vec3& SimTK::MobilizedBody::SphericalCoords::getMyPartQ	(	const State &	,
		const Vector &	qlike
	)		const

const Vec3& SimTK::MobilizedBody::SphericalCoords::getMyPartU	(	const State &	,
		const Vector &	ulike
	)		const

Vec3& SimTK::MobilizedBody::SphericalCoords::updMyPartQ	(	const State &	,
		Vector &	qlike
	)		const

Vec3& SimTK::MobilizedBody::SphericalCoords::updMyPartU	(	const State &	,
		Vector &	ulike
	)		const

The documentation for this class was generated from the following file:

MobilizedBody_SphericalCoords.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation